WO2019061401A1

WO2019061401A1 - Unmanned aerial vehicle frame assembly, and unmanned aerial vehicle

Info

Publication number: WO2019061401A1
Application number: PCT/CN2017/104769
Authority: WO
Inventors: 张松
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2019-04-04
Also published as: CN109070991B; CN109070991A

Abstract

Disclosed are an unmanned aerial vehicle frame assembly, and an unmanned aerial vehicle. The frame assembly comprises a central frame, a first arm (10) and a second arm (20), wherein a synchronization device (30) enables the first arm (10) and the second arm (20) to be capable of synchronously rotating; a first end of a locking device (40) is rotatably connected to the first arm (10), and the locking device (40) has a locking portion (41); and a first end of a cooperation device (50) is rotatably connected to the second arm (20), a second end of the cooperation device (50) is rotatably connected to a second end of the locking device (40), and the cooperation device (50) has a cooperation portion (51). When the first arm (10) rotates towards the second arm (20) in a direction where the included angle therebetween decreases, the locking portion (41) is separated from the cooperation portion (51), so that the first arm (10) and the second arm (20) are folded; and when the first arm (10) rotates relative to the second arm (20) in a direction where the included angle therebetween increases, the locking portion (41) moves towards the cooperation portion (51) until the two cooperate with each other, so that the first arm (10) and the second arm (20) are unfolded.

Description

无人机的机架组件及无人机Drone components and drones

技术领域Technical field

本发明实施例涉及无人机领域，尤其涉及一种无人机的机架组件及无人机。Embodiments of the present invention relate to the field of drones, and more particularly to a rack assembly and a drone of a drone.

背景技术Background technique

无人飞行器常常用在航拍，远程空中监控，监测，侦查等领域。无人飞行器一般由中心架，机臂，动力组件，脚架以及作业需挂载的设备几部分组成。用于作业的设备一般设置在中心架的上方或下方，而脚架的作用是支撑整个飞行器，避免飞行器或者作业设备下挂时与地面接触。由于固定式机臂结构的无人飞行器体积较大，携带不便，将机臂进行折叠是一种较通用的方式。Unmanned aerial vehicles are often used in aerial photography, remote air monitoring, monitoring, and detection. Unmanned aerial vehicles generally consist of a central frame, an arm, a power component, a tripod, and several parts of the equipment to be mounted. The equipment used for the work is generally arranged above or below the center frame, and the function of the stand is to support the entire aircraft to avoid contact with the ground when the aircraft or the working equipment is hung. Since the UAV of the fixed arm structure is large in size and inconvenient to carry, folding the arm is a more common method.

由于无人飞行器在飞行时机臂至少应该被锁定，现有技术中的折叠式机臂的无人飞行器，只能实现一次锁定单个机臂，不能实现一次锁定两个机臂，导致操作效率较低。Since the UAV should be locked at least when the UAV is in flight, the UAV of the folding arm of the prior art can only lock a single arm once, and cannot lock the two arms at a time, resulting in low operational efficiency. .

发明内容Summary of the invention

本发明实施例提供一种无人机的机架组件及无人机，以解决用于解决现有技术存在的不能一次锁定两个机臂，导致操作效率较低的问题。The embodiment of the invention provides a rack assembly and a drone of a drone to solve the problem that the two arms cannot be locked at one time in the prior art, resulting in low operation efficiency.

本发明一方面实施例提供一种无人机的机架组件，包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构；所述锁定机构包括同步装置、锁定装置和配合装置；An embodiment of the present invention provides a rack assembly for a drone, including a center frame, a first arm and a second arm rotatably coupled to the center frame, and for the first arm a locking mechanism that is locked in synchronization with the second arm; the locking mechanism includes a synchronization device, a locking device, and a mating device;

所述同步装置设于第一机臂与第二机臂之间，以使第一机臂与第二机臂能够同步转动；The synchronization device is disposed between the first arm and the second arm to enable the first arm and the second arm to rotate synchronously;

所述锁定装置的第一端与第一机臂可转动连接，所述锁定装置设有锁定部；The first end of the locking device is rotatably coupled to the first arm, and the locking device is provided with a locking portion;

所述配合装置的第一端与第二机臂可转动连接，所述配合装置的第二端与锁定装置的第二端可转动连接，所述配合装置设有用于与锁定部配合以将锁定装置与配合装置相对锁定的配合部；The first end of the mating device is rotatably coupled to the second arm, and the first of the mating devices The two ends are rotatably coupled to the second end of the locking device, and the mating device is provided with a mating portion for engaging with the locking portion to lock the locking device relative to the mating device;

其中，当第一机臂相对于所述第二机臂朝向夹角缩小的方向转动时，所述锁定部与所述配合部相分离，使所述第一机臂、第二机臂处于折叠状态；Wherein, when the first arm rotates in a direction in which the angle is reduced with respect to the second arm, the locking portion is separated from the engaging portion, so that the first arm and the second arm are folded. status;

当第一机臂相对于所述第二机臂朝向夹角增大的方向转动时，所述锁定部朝向所述配合部运动，直至所述锁定部与所述配合部相配合，使所述第一机臂、第二机臂处于展开状态。The locking portion moves toward the mating portion when the first arm rotates relative to the second arm toward a direction in which the angle increases, until the locking portion cooperates with the mating portion, The first arm and the second arm are in an unfolded state.

本发明实施例提供的无人机的机架组件，通过设置在第一机臂与第二机臂之间的同步装置使得第一机臂和第二机臂可以同步转动，而将第一机臂与锁定装置的第一端可转动连接，将配合装置的第一端与第二机臂可转动连接，将锁定装置的第二端与配合装置的第二端可转动连接，当第一机臂与第二机臂相对转动至靠近时，锁定部与配合部分离，第一机臂和第二机臂处于折叠状态，当第一机臂与第二机臂沿相背离的方向转动时，锁定部朝配合部运动直至锁定部与配合部配合，第一机臂和第二机臂处于展开状态，此时，锁定部与配合部是配合锁定的状态，因此第一机臂和第二机臂也处于锁定状态，由此实现了一次锁定两个机臂，提高了操作效率。The rack assembly of the UAV provided by the embodiment of the present invention enables the first arm and the second arm to rotate synchronously through the synchronizing device disposed between the first arm and the second arm, and the first machine The first end of the arm is rotatably connected to the second end of the locking device, and the second end of the locking device is rotatably connected to the second end of the engaging device. When the arm and the second arm are relatively rotated to be close to each other, the locking portion is separated from the engaging portion, and the first arm and the second arm are in a folded state, when the first arm and the second arm rotate in a direction away from each other, The locking portion moves toward the engaging portion until the locking portion cooperates with the engaging portion, and the first arm and the second arm are in an unfolded state. At this time, the locking portion and the engaging portion are in a state of being locked, so the first arm and the second machine The arm is also in a locked state, thereby achieving simultaneous locking of the two arms, improving operational efficiency.

本发明另一方面实施例提供一种无人机，包括机架组件以及设于所述机架组件上的动力装置，所述动力装置用于提供飞行动力给所述无人机；Another embodiment of the present invention provides a drone, including a rack assembly and a power unit disposed on the rack assembly, the power unit for providing flight power to the drone;

其中，所述机架组件包括：中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构；所述锁定机构包括同步装置、锁定装置和配合装置；The rack assembly includes: a center frame, a first arm rotatably coupled to the center frame, a second arm, and a lock for synchronously locking the first arm and the second arm a mechanism; the locking mechanism includes a synchronization device, a locking device, and a mating device;

所述配合装置的第一端与第二机臂可转动连接，所述配合装置的第二端与锁定装置的第二端可转动连接，所述配合装置设有用于与锁定部配合以将锁定装置与配合装置相对锁定的配合部；The first end of the mating device is rotatably coupled to the second arm, the second end of the mating device is rotatably coupled to the second end of the locking device, and the mating device is configured to cooperate with the locking portion to lock a mating portion of the device and the mating device relatively locked;

其中，当第一机臂相对于所述第二机臂朝向夹角缩小的方向转动时，所述锁定部与所述配合部相分离，使所述第一机臂、第二机臂处于折叠状态；Wherein, when the first arm rotates in a direction in which the angle is reduced with respect to the second arm, The locking portion is separated from the engaging portion such that the first arm and the second arm are in a folded state;

本实施例提供的无人机，通过设置在第一机臂与第二机臂之间的同步装置使得第一机臂和第二机臂可以同步转动，而将第一机臂与锁定装置的第一端可转动连接，将配合装置的第一端与第二机臂可转动连接，将锁定装置的第二端与配合装置的第二端可转动连接，当第一机臂与第二机臂相对转动至靠近时，锁定部与配合部分离，第一机臂和第二机臂处于折叠状态，当第一机臂与第二机臂沿相背离的方向转动时，锁定部朝配合部运动直至锁定部与配合部配合，第一机臂和第二机臂处于展开状态，此时，锁定部与配合部是配合锁定的状态，因此第一机臂和第二机臂也处于锁定状态，由此实现了一次锁定两个机臂，提高了操作效率。In the drone provided by the embodiment, the first arm and the second arm can be synchronously rotated by the synchronizing device disposed between the first arm and the second arm, and the first arm and the locking device are The first end is rotatably connected, the first end of the mating device is rotatably connected with the second arm, and the second end of the locking device is rotatably connected with the second end of the mating device, when the first arm and the second arm When the arm is relatively rotated to be close to each other, the locking portion is separated from the engaging portion, and the first arm and the second arm are in a folded state. When the first arm and the second arm rotate in a direction away from each other, the locking portion faces the engaging portion. The first arm and the second arm are in an unfolded state until the locking portion cooperates with the engaging portion. At this time, the locking portion and the engaging portion are in a locked state, so the first arm and the second arm are also in the locked state. Thus, the locking of the two arms at a time is achieved, which improves the operating efficiency.

附图说明DRAWINGS

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

图1为本发明实施例所提供的无人机的机架组件的结构示意图；1 is a schematic structural diagram of a rack assembly of a drone according to an embodiment of the present invention;

图2为本发明实施例所提供的无人机的机架组件的局部***结构示意图一；2 is a schematic diagram 1 of a partial exploded structure of a rack assembly of a drone according to an embodiment of the present invention;

图3为本发明实施例所提供的无人机的机架组件的局部***结构示意图二；3 is a schematic diagram 2 showing a partial explosion structure of a frame assembly of a drone according to an embodiment of the present invention;

图4为本发明实施例所提供的无人机机架组件的***结构示意图；4 is a schematic diagram of an explosion structure of a UAV frame assembly according to an embodiment of the present invention;

图5为本发明实施例所提供的无人机的结构示意图。FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention.

附图标记：Reference mark:

10-第一机臂； 20-第二机臂； 30-同步装置；10-first arm; 20-second arm; 30-synchronous device;

40-锁定装置； 50-配合装置； 60-回弹件；40-locking device; 50-mating device; 60-rebound member;

31-第一齿轮； 32-第二齿轮； 41-锁定部； 31-first gear; 32-second gear; 41-locking portion;

40a-第一连杆； 40b-第二连杆； 40c-连接件；40a-first link; 40b-second link; 40c-connector;

401b-第一支臂； 402b-第二支臂； M-第一斜面；401b - first arm; 402b - second arm; M - first slope;

N-第二斜面； 401a-第一连接孔； 403b-第二连接孔；N-second slope; 401a-first connection hole; 403b-second connection hole;

a-第一转轴； b-第二转轴； c-第三转轴；A-first rotating shaft; b-second rotating shaft; c-third rotating shaft;

52-开口； 53-壳体； 53a-第一分壳；52-opening; 53-shell; 53a-first split case;

53b-第二分壳； 54-滑块； 55-驱动件；53b-second split case; 54-slider; 55-drive member;

551-按压部； 552-抵推部； 56-辅助弹性件；551-pressing portion; 552-impacting portion; 56-auxiliary elastic member;

57-复位弹性件； 100-中心架。57-reset elastic member; 100-center frame.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be in the middle. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

实施例一Embodiment 1

图1为本发明实施例所提供的无人机的机架组件的结构示意图；图2为本发明实施例所提供的无人机的机架组件的局部***结构示意图一；图3为本发明实施例所提供的无人机的机架组件的局部***结构示意图二；图4为本发明实施例所提供的无人机机架组件的***结构示意图。1 is a schematic structural view of a rack assembly of a drone according to an embodiment of the present invention; FIG. 2 is a schematic diagram of a partial exploded structure of a rack assembly of a drone according to an embodiment of the present invention; FIG. 4 is a schematic diagram of an exploded structure of an unmanned aerial vehicle frame assembly according to an embodiment of the present invention. FIG.

请参照附图1-附图4，本实施例提供的无人机的机架组件，包括中心架 (图1-图4未示出)，与中心架可转动连接的第一机臂10、第二机臂20，以及用于将第一机臂10与第二机臂20同步锁定的锁定机构；锁定机构包括同步装置30、锁定装置40和配合装置50。第一机臂10和第二机臂20可以分别通过各自的转轴与中心架可转动连接，例如铰接。Referring to Figure 1 - Figure 4, the rack assembly of the drone provided by the embodiment includes a center frame. (not shown in Figures 1-4), the first arm 10, the second arm 20 rotatably coupled to the center frame, and a locking mechanism for simultaneously locking the first arm 10 and the second arm 20 The locking mechanism includes a synchronizing device 30, a locking device 40, and a mating device 50. The first arm 10 and the second arm 20 can be rotatably coupled to the center frame via respective shafts, such as hinges.

其中，同步装置30设置于第一机臂10与第二机臂20之间，以使第一机臂10与第二机臂20能够同步转动。即，当驱动第一机臂10转动时，其转动动力能够通过同步装置30传递到第二机臂20，使得第二机臂20能够随第一机臂10同步转动。可以理解的是，当将第一机臂10锁定，由于同步装置30的限制，第二机臂20也将不能转动，即，将第一机臂10与第二机臂20能够同步锁定。The synchronization device 30 is disposed between the first arm 10 and the second arm 20 to enable the first arm 10 and the second arm 20 to rotate synchronously. That is, when the first arm 10 is driven to rotate, its rotational power can be transmitted to the second arm 20 through the synchronizing device 30, so that the second arm 20 can rotate synchronously with the first arm 10. It will be appreciated that when the first arm 10 is locked, the second arm 20 will also be unable to rotate due to the limitation of the synchronizing device 30, i.e., the first arm 10 and the second arm 20 can be locked in synchronization.

锁定装置40的第一端与第一机臂10可转动连接，锁定装置40设有锁定部41。具体的，锁定装置40的第一端可以与第一机臂10通过第一转轴a铰接。The first end of the locking device 40 is rotatably coupled to the first arm 10, and the locking device 40 is provided with a locking portion 41. Specifically, the first end of the locking device 40 can be hinged with the first arm 10 through the first shaft a.

配合装置50的第一端与第二机臂20可转动连接，配合装置50的第二端与锁定装置40的第二端可转动连接，配合装置50设有用于与锁定部41配合以将锁定装置40与配合装置50相对锁定的配合部51。配合装置50的第一端也可以与第二机臂20通过第二转轴b铰接在一起，同样的，配合装置50的第二端可以通过第三转轴c与锁定装置40的第二端可转动连接。The first end of the mating device 50 is rotatably coupled to the second arm 20, and the second end of the mating device 50 is rotatably coupled to the second end of the locking device 40. The mating device 50 is configured to cooperate with the locking portion 41 to lock The fitting portion 51 of the device 40 and the mating device 50 are locked. The first end of the mating device 50 can also be hinged with the second arm 20 through the second rotating shaft b. Similarly, the second end of the mating device 50 can be rotated through the third rotating shaft c and the second end of the locking device 40. connection.

其中，当第一机臂10相对于第二机臂20朝向夹角缩小的方向转动时，锁定部41与配合部51相分离，使第一机臂10、第二机臂20处于折叠状态；When the first arm 10 is rotated relative to the second arm 20 in the direction in which the angle is reduced, the locking portion 41 is separated from the engaging portion 51, so that the first arm 10 and the second arm 20 are in a folded state;

当第一机臂10相对于第二机臂20朝向夹角增大的方向转动时，锁定部41朝向配合部51运动，直至锁定部41与配合部51相配合，使第一机臂10、第二机臂20处于展开状态。When the first arm 10 rotates relative to the second arm 20 in the direction in which the angle increases, the locking portion 41 moves toward the engaging portion 51 until the locking portion 41 cooperates with the engaging portion 51, so that the first arm 10, The second arm 20 is in an unfolded state.

具体的，第一机臂10与第二机臂20可以相对转动至最小预设夹角，例如第一机臂10与第二机臂20转动至相互平行，即夹角为零。在第一机臂10与第二机臂20相对转动至最小预设夹角时，第一机臂10、第二机臂20可以处于折叠状态。此处的折叠状态是第一机臂10和第二机臂20相对呈折叠状态，而不应理解为第一机臂10和第二机臂20分别各自呈折叠状态。Specifically, the first arm 10 and the second arm 20 can be relatively rotated to a minimum preset angle. For example, the first arm 10 and the second arm 20 are rotated to be parallel to each other, that is, the angle is zero. When the first arm 10 and the second arm 20 are relatively rotated to a minimum preset angle, the first arm 10 and the second arm 20 may be in a folded state. The folded state here is that the first arm 10 and the second arm 20 are relatively folded, and it should not be understood that the first arm 10 and the second arm 20 are respectively in a folded state.

第一机臂10与第二机臂20可以相对转动至最大预设夹角，例如第一机臂10与第二机臂20转动夹角呈180度。在第一机臂10与第二机臂20相对转动至最大预设夹角时，第一机臂10、第二机臂20处于展开状态。此处的展开状态是第一机臂10和第二机臂20相背离呈展开状态，而不应理解为第一机臂10和第二机臂20分别各自呈展开状态。The first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees. The first arm 10 is opposite to the second arm 20 When rotating to the maximum preset angle, the first arm 10 and the second arm 20 are in an unfolded state. The unfolded state here is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.

当然，可以理解的是，在第一机臂10和第二机臂20处于折叠状态时，第一机臂10与第二机臂20之间的夹角还可以大于零，在第一机臂10和第二机臂20处于展开状态时，第一机臂10与第二机臂20之间的夹角还可以小于180度。具体可根据机臂数量和布置位置，以及预设的展开形式而确定，在此，本实施例不做限定。Of course, it can be understood that when the first arm 10 and the second arm 20 are in the folded state, the angle between the first arm 10 and the second arm 20 can also be greater than zero, in the first arm. When the 10 and the second arm 20 are in the deployed state, the angle between the first arm 10 and the second arm 20 may also be less than 180 degrees. Specifically, it can be determined according to the number of the arm and the arrangement position, and the preset deployment form. Here, the embodiment is not limited.

锁定装置40上的锁定部41可以以可拆或不可拆的方式固定在锁定装置40的其他部分上，在不可拆的方式中，具体的，锁定部41可以与锁定装置40其他部分一体成型，或焊接成型。The locking portion 41 on the locking device 40 can be fixed to other portions of the locking device 40 in a detachable or non-removable manner. In an unremovable manner, in particular, the locking portion 41 can be integrally formed with other portions of the locking device 40, Or welded molding.

配合装置50上的配合部51可以以可拆或不可拆的方式固定在配合装置50的其他部分上，在不可拆的方式中，具体的，配合部51可以与配合装置50其他部分一体成型，或焊接成型。配合部51还可以活动设置于配合装置50的其他部分，例如，在锁定部41与配合状51配合后，当操作配合部51，可使配合部51脱离与锁定部41的配合，实现第一机臂10与第二机臂20的解锁。The mating portion 51 of the mating device 50 can be fixed to other portions of the mating device 50 in a detachable or non-removable manner. In an unremovable manner, in particular, the mating portion 51 can be integrally formed with other portions of the mating device 50. Or welded molding. The engaging portion 51 can also be movably disposed on other portions of the mating device 50. For example, after the locking portion 41 is engaged with the engaging portion 51, when the engaging portion 51 is operated, the engaging portion 51 can be disengaged from the locking portion 41 to achieve the first The unlocking of the arm 10 and the second arm 20.

在本实施例中，同步装置50可以包括固定于第一机臂10上的第一齿轮31，以及固定于第二机臂20上的第二齿轮32，第一齿轮31与第二齿轮32啮合，以使第一机臂10与第二机臂20能够同步反向转动。其中，第一齿轮31和第二齿轮32的齿可以布置在整个周向，或者也可以沿周向布置在一弧形段上，具体可以根据第一机臂10和第二机臂20所需的展开角度来确定。In the present embodiment, the synchronizing device 50 may include a first gear 31 fixed to the first arm 10, and a second gear 32 fixed to the second arm 20, the first gear 31 meshing with the second gear 32. In order to enable the first arm 10 and the second arm 20 to rotate in opposite directions. Wherein, the teeth of the first gear 31 and the second gear 32 may be arranged in the entire circumferential direction, or may also be arranged on the arc segment in the circumferential direction, in particular according to the requirements of the first arm 10 and the second arm 20 The expansion angle is determined.

当然，本领域技术人员还可以选择其他的同步装置来使得第一机臂10和第二机臂20可以同步转动，例如，还可以采用连杆传动的形式，在此，本实施例不做特别限定。Of course, those skilled in the art may also select other synchronizing devices to enable the first arm 10 and the second arm 20 to rotate synchronously. For example, a link transmission may also be adopted. limited.

本实施例提供的无人机的机架组件，通过设置在第一机臂与第二机臂之间的同步装置使得第一机臂和第二机臂可以同步转动，而将第一机臂与锁定装置的第一端可转动连接，将配合装置的第一端与第二机臂可转动连接，将锁定装置的第二端与配合装置的第二端可转动连接，当第一机臂与第二机臂相对转动至靠近时，锁定部与配合部分离，第一机臂和第二机臂处于折叠状态，当第一机臂与第二机臂沿相背离的方向转动时，锁定部朝配合部运动直至锁定部与配合部配合，第一机臂和第二机臂处于展开状态，此时，锁定部与配合部是配合锁定的状态，因此第一机臂和第二机臂也处于锁定状态，由此实现了一次锁定两个机臂，提高了操作效率。The rack assembly of the drone provided by this embodiment enables the first arm and the second arm to rotate synchronously through the synchronizing device disposed between the first arm and the second arm, and the first arm is The first end of the locking device is rotatably coupled to the second end of the locking device, and the second end of the locking device is rotatably coupled to the second end of the mating device. When the second arm is rotated relatively close to the second arm, the locking portion is separated from the engaging portion, and the first arm and the second arm are folded When the first arm and the second arm rotate in a direction away from each other, the locking portion moves toward the engaging portion until the locking portion cooperates with the engaging portion, and the first arm and the second arm are in an unfolded state. The locking portion and the engaging portion are in a state of being locked, so that the first arm and the second arm are also in a locked state, thereby realizing the locking of the two arms at a time, thereby improving the operation efficiency.

实施例二 Embodiment 2

本实施例在实施例一的基础上，对锁定装置40上的锁定部41与配合装置50上的配合部51的具体锁定方式进行描述。This embodiment describes the specific locking manner of the locking portion 41 on the locking device 40 and the fitting portion 51 on the mating device 50 on the basis of the first embodiment.

在本实施例中，如图2-图4所示，优选的，锁定部41与配合部51之间的锁定方式为卡接。锁定部41与配合部51采用卡接的方式进行锁定，卡接后稳定性较好。In the present embodiment, as shown in FIG. 2 to FIG. 4, preferably, the locking manner between the locking portion 41 and the engaging portion 51 is engaged. The locking portion 41 and the engaging portion 51 are locked by being engaged, and the stability after the snapping is good.

具体的，如图4所示，配合装置50可以包括壳体53，配合部51可以设置于壳体53的内部，壳体53上朝向第一机臂10和第二机臂20的一侧可以设有开口52，锁定部41可以穿过开口52锁定于配合部51上。具体是卡接于配合部51上。Specifically, as shown in FIG. 4, the mating device 50 may include a housing 53. The mating portion 51 may be disposed inside the housing 53. The side of the housing 53 facing the first arm 10 and the second arm 20 may be An opening 52 is provided, and the locking portion 41 can be locked to the fitting portion 51 through the opening 52. Specifically, the card is attached to the mating portion 51.

整个壳体53可以包括可拆卸的第一分壳53a和第二分壳53b，在安装状态下，第二分壳53b可以位于第一机臂10和第二机臂20的一侧，对应的，开口52可以位于第二分壳53b上，配合部51可以设置在第一分壳53a与第二分壳53b之间。整个壳体53由可拆卸的两个分壳构成，可以便于安装、维修或者更换壳体53内的例如配合部51等零部件。当然，壳体53还可以不仅仅由两个分壳构成，例如还可以是由两个以上的分壳围合形成壳体53，例如，可由四个、六个等分壳相互之间可拆卸地连接而形成壳体53，本实施例不做限定。The entire housing 53 may include a detachable first partial housing 53a and a second partial housing 53b. In the mounted state, the second partial housing 53b may be located on one side of the first arm 10 and the second arm 20, corresponding The opening 52 may be located on the second partial casing 53b, and the fitting portion 51 may be disposed between the first partial casing 53a and the second partial casing 53b. The entire casing 53 is composed of two detachable casings, which facilitates installation, maintenance, or replacement of components such as the fitting portion 51 in the casing 53. Of course, the housing 53 may not only be composed of two split shells, for example, it may be formed by two or more split shells, for example, four or six equally divided shells may be detachable from each other. The housing 53 is connected to the ground, which is not limited in this embodiment.

当然，可以理解的是，若仅考虑基本功能实现，第一分壳53a与第二分壳53b之间也可以不可拆卸地方式进行连接，例如粘接、焊接等方式。Of course, it can be understood that, if only the basic function is realized, the first split case 53a and the second split case 53b can also be connected in a non-detachable manner, such as bonding, welding, or the like.

优选的，如图4所示，本实施例中的锁定部41可以为卡勾，配合部51可以为卡孔或卡槽。在第一机臂10相对于第二机臂20朝向夹角增大的方向转动的过程中，锁定装置40朝向配合装置50运动，直至卡勾状的锁定部41卡入到卡孔或卡槽状的配合部51中，实现锁定装置40与配合装置50的相对锁定，此时，第一机臂10与第二机臂20处于展开状态。Preferably, as shown in FIG. 4, the locking portion 41 in this embodiment may be a hook, and the engaging portion 51 may be a card hole or a card slot. During the rotation of the first arm 10 relative to the second arm 20 in the direction in which the angle increases, the locking device 40 moves toward the mating device 50 until the hook-like locking portion 41 snaps into the card hole or the card slot. In the fitting portion 51, the relative locking of the locking device 40 and the engaging device 50 is achieved. At this time, the first arm 10 and the second arm 20 are in an unfolded state.

更进一步的，如图4所示，配合部51可以设置于一可朝脱离锁定部41 的方向运动的滑块54上，滑块54能够在操作者所施加的外力驱动下滑动至配合部51脱离锁定部41。滑块54可以设置在配合装置50内部空腔内，具体的，例如，可以设置在第一分壳53a与第二分壳53b所围成的内部空腔中。在配合装置50内部还可以设置用于引导滑块54沿预定方向滑动的滑道(图中未示出)。Further, as shown in FIG. 4, the engaging portion 51 may be disposed at a detachable locking portion 41. On the slider 54 of the directional movement, the slider 54 can be slid to the engagement portion 51 to be disengaged from the lock portion 41 by the external force applied by the operator. The slider 54 may be disposed in the internal cavity of the mating device 50, and specifically, for example, may be disposed in an internal cavity surrounded by the first split case 53a and the second split case 53b. A slide (not shown) for guiding the slider 54 to slide in a predetermined direction may also be provided inside the mating device 50.

配合装置50还可以包括驱动件55，驱动件55用于接收操作者所施加的外力，并将外力传递至滑块54，以驱动滑块54沿脱离锁定部41的方向滑动。驱动件55可以抵顶到滑块54上，以推动滑块54滑动，从而可使得滑块54上的配合部51的位置产生移动，而当配合部51的位置产生移动的情况下，便可使配合部51与锁定部41相脱离。若驱动件55不***作，则滑块54可维持在当前的位置，配合部51与锁定部41始终保持配合锁定的状态，进而第一机臂10和第二机臂20始终保持锁定的状态。The mating device 50 may further include a driving member 55 for receiving an external force applied by the operator and transmitting the external force to the slider 54 to drive the slider 54 to slide in a direction away from the locking portion 41. The driving member 55 can abut against the slider 54 to push the slider 54 to slide, so that the position of the engaging portion 51 on the slider 54 can be moved, and when the position of the engaging portion 51 is moved, The fitting portion 51 is separated from the locking portion 41. If the driving member 55 is not operated, the slider 54 can be maintained at the current position, and the engaging portion 51 and the locking portion 41 are always kept in a locked state, and thus the first arm 10 and the second arm 20 are always kept locked. .

操作者所施加的外力方向可以与滑块54的滑动方向垂直。具体的，例如，如图4所示，驱动件55可以包括用于供操作者按压的按压部551，以及用于抵推滑块54的抵推部552，抵推部552与滑块54之间可以斜面接触，当操作者按压驱动件55时，抵推部552可以通过斜面推动滑块54沿脱离锁定部41的方向滑动。The direction of the external force applied by the operator may be perpendicular to the sliding direction of the slider 54. Specifically, for example, as shown in FIG. 4, the driving member 55 may include a pressing portion 551 for pressing by an operator, and an abutting portion 552 for abutting the slider 54, the abutting portion 552 and the slider 54 The slanting surface contact is possible, and when the operator presses the driving member 55, the urging portion 552 can slide the slider 54 in the direction away from the locking portion 41 by the inclined surface.

作为可选的方式，操作者所施加的外力方向可以与滑块54的滑动方向一致。例如，操作者按压驱动件55，而驱动件55上的抵推部552与滑块54之间的接触面与施力方向垂直，从而，可以实现直接滑块54朝所施加的外力方向滑动。Alternatively, the direction of the external force applied by the operator may coincide with the sliding direction of the slider 54. For example, the operator presses the driving member 55, and the contact surface between the abutting portion 552 and the slider 54 on the driving member 55 is perpendicular to the biasing direction, so that the direct slider 54 can be slid in the direction of the applied external force.

另外，驱动件55与壳体53之间还可以设有辅助弹性件56，在本实施例中的辅助弹性件56可以为轴向伸缩弹簧，在操作者向驱动件55施加外力的过程中，辅助弹性件56逐渐压缩，在驱动件55所受外力撤离过程中，辅助弹性件56恢复形变至驱动驱动件55回复至初始状态。具体的，辅助弹性件56的一端可以与驱动件55连接，辅助弹性件56的另一端可以与壳体53抵顶接触；或者，辅助弹性件56的一端与驱动件55抵顶接触，辅助弹性件56的另一端与壳体53连接；或者，辅助弹性件56的一端与驱动件55抵顶接触，辅助弹性件56的另一端与壳体53连接。在壳体53上还可以形成有防止驱动件55从壳体53上脱落的限位部(图中未示出)，当然，当辅助弹性件56的两端分别与驱动件55和壳体53连接的情况下，可以省去壳体53上的限位部。In addition, an auxiliary elastic member 56 may be disposed between the driving member 55 and the housing 53. The auxiliary elastic member 56 in this embodiment may be an axially extending spring. During an external force applied by the operator to the driving member 55, The auxiliary elastic member 56 is gradually compressed, and during the evacuation of the external force of the driving member 55, the auxiliary elastic member 56 is restored to the drive member 55 to return to the initial state. Specifically, one end of the auxiliary elastic member 56 may be coupled to the driving member 55, and the other end of the auxiliary elastic member 56 may be in abutting contact with the housing 53. Alternatively, one end of the auxiliary elastic member 56 may be in contact with the driving member 55 to assist the elasticity. The other end of the member 56 is coupled to the housing 53. Alternatively, one end of the auxiliary elastic member 56 is in abutting contact with the driving member 55, and the other end of the auxiliary elastic member 56 is coupled to the housing 53. A stopper (not shown) for preventing the driving member 55 from coming off the housing 53 may be formed on the housing 53, of course, when the auxiliary elastic member 56 is In the case where the both ends are connected to the driving member 55 and the housing 53, respectively, the limiting portion on the housing 53 can be omitted.

通过在驱动件55与滑块54之间设置辅助弹性件56，在操作者未向驱动件55施加按压力的时候，辅助弹性件56可以处于初始状态，此时，驱动件55上的抵推部552可以与滑块54静接触，或者，与滑块54保持一定间隙，而当操作者向驱动件55施加按压力的时候，辅助弹性件56可以逐渐被压缩，辅助弹性件56不断推动滑块54使得滑块54上的配合部51脱离锁定装置40上的锁定部41。若外力撤销，辅助弹性件56还可以带动驱动件55回复至初始状态。由此，辅助弹性件56可以有利于帮助操作者更加均匀和平缓地对滑块54施加作用力，并且，辅助弹性件56可以帮助驱动件55自动回复初始状态，便于操作者重复解锁、锁定，提高操作效率。By providing the auxiliary elastic member 56 between the driving member 55 and the slider 54, when the operator does not apply a pressing force to the driving member 55, the auxiliary elastic member 56 can be in an initial state, at this time, the pressing on the driving member 55 The portion 552 can be in static contact with the slider 54, or a certain gap with the slider 54, and when the operator applies a pressing force to the driving member 55, the auxiliary elastic member 56 can be gradually compressed, and the auxiliary elastic member 56 is continuously pushed and slipped. Block 54 causes the mating portion 51 on the slider 54 to disengage from the locking portion 41 on the locking device 40. If the external force is removed, the auxiliary elastic member 56 can also drive the driving member 55 back to the initial state. Thus, the auxiliary elastic member 56 can help the operator to apply the force to the slider 54 more uniformly and gently, and the auxiliary elastic member 56 can help the driving member 55 to automatically return to the initial state, so that the operator can repeatedly unlock and lock. Improve operational efficiency.

在配合装置50中还可以设有用于抵顶滑块54的复位弹性件57，复位弹性件57的伸缩方向与滑块54的滑动方向一致。在本实施例中，复位弹性件57可以为轴向伸缩弹簧，或者，可以为橡胶件，只要能提高有效的回弹力即可。当然，优选的，复位弹性件57为轴向伸缩弹簧，轴向伸缩弹簧的弹性回复效果相较于橡胶，更敏捷，且更不易磨损，使用寿命更长。A return elastic member 57 for abutting the slider 54 may be provided in the mating device 50, and the contraction direction of the return elastic member 57 coincides with the sliding direction of the slider 54. In this embodiment, the return elastic member 57 may be an axial telescopic spring, or may be a rubber member as long as the effective resilience can be improved. Of course, preferably, the return elastic member 57 is an axial telescopic spring, and the elastic recovery effect of the axial telescopic spring is more agile than rubber, and is less prone to wear and has a longer service life.

复位弹性件57在自然状态下，抵顶滑块54使配合部51处于用于与锁定部41锁定的预设锁定位置；当滑块54在操作者外力驱动下滑动的过程中，复位弹性件57产生形变；当滑块54所受的外力消失，复位弹性件57恢复形变驱动滑块54回到预设锁定位置。其中，预设锁定位置为锁定装置50中锁定部41位于用于锁定部41与配合部51相互配合的位置处，例如，用于卡勾卡入卡孔或卡槽中的位置处。在滑块54在外力驱动下滑动的过程中，若滑块54朝向复位弹性件57所在方向滑动，则复位弹性件57在滑块54滑动过程中产生压缩形变；若滑块54背离复位弹性件57所在方向滑动，则复位弹性件57在滑块54滑动过程中产生伸长形变。而当滑块54所受外力消失时，复位弹性件57能够恢复形变，使得滑块54回复至预设锁定位置，而无需手动将滑块54移动至预设锁定位置，由此，采用复位弹性件57可以便于下次进行锁定操作，同样的，也具有提高效率的效果。The return elastic member 57 is in the natural state, the abutting slider 54 causes the engaging portion 51 to be in a preset locking position for locking with the locking portion 41; when the slider 54 is slid under the external force of the operator, the elastic member is reset. 57 is deformed; when the external force received by the slider 54 disappears, the return elastic member 57 returns to the deformation driving slider 54 to return to the preset locking position. The preset locking position is that the locking portion 41 of the locking device 50 is located at a position for the locking portion 41 and the engaging portion 51 to cooperate with each other, for example, at a position where the hook is caught in the card hole or the card slot. During the sliding of the slider 54 under the driving of the external force, if the slider 54 slides in the direction of the return elastic member 57, the return elastic member 57 generates compression deformation during the sliding of the slider 54; if the slider 54 faces away from the reset elastic member When the 57 slides in the direction, the return elastic member 57 is elongated and deformed during the sliding of the slider 54. When the external force of the slider 54 disappears, the return elastic member 57 can resume the deformation, so that the slider 54 returns to the preset locking position without manually moving the slider 54 to the preset locking position, thereby adopting the reset elasticity The member 57 can facilitate the next locking operation and, similarly, has an effect of improving efficiency.

需要说明的是，若滑块54背离复位弹性件57所在方向滑动，复位弹性件57在滑块54滑动过程中需要产生伸长形变，则复位弹性件57的两端应分别与壳体53和滑块54连接。若滑块54朝向复位弹性件57所在方向滑动，则复位弹性件57在滑块54滑动过程中是产生压缩形变，则复位弹性件57可以一端与壳体53连接，另一端用于与滑块54抵顶。或者，复位弹性件57可以一端与滑块连接，另一端用于与壳体53抵顶。It should be noted that if the slider 54 slides away from the direction of the return elastic member 57, the return elastic member 57 needs to undergo elongation deformation during the sliding process of the slider 54, and the two ends of the return elastic member 57 should be respectively associated with the housing 53 and The sliders 54 are connected. If the slider 54 slides in the direction of the return elastic member 57, Then, the return elastic member 57 is compressed and deformed during the sliding of the slider 54, and the return elastic member 57 can be connected to the housing 53 at one end and the other end to the slider 54. Alternatively, the return elastic member 57 may be connected to the slider at one end and the other end to the housing 53.

通过上述的方式，操作者仅需要按压按压部551，即可实现解除锁定装置40与配合装置50之间的锁定，即实现第一机臂10与第二机臂20的锁定。In the above manner, the operator only needs to press the pressing portion 551 to realize the locking between the unlocking device 40 and the engaging device 50, that is, the locking of the first arm 10 and the second arm 20.

另外，如图4所示，作为更优选的方式，上述所提及的驱动件55和辅助弹性件56可以均包括两个，并且可以对称设置在壳体53的两侧，由此，操作者在按压驱动件55的时候，可以朝中间施力，便于操作，若锁定装置40和配合装置50体积做的足够小，甚至可以实现单手操作驱动件55，实现单手解锁，进一步提高操作效率。In addition, as shown in FIG. 4, as a more preferable manner, the above-mentioned drive member 55 and auxiliary elastic member 56 may each include two, and may be symmetrically disposed on both sides of the housing 53, whereby the operator When the driving member 55 is pressed, the force can be applied to the middle for easy operation. If the locking device 40 and the matching device 50 are small enough, the one-hand operation of the driving member 55 can be realized, and the one-hand unlocking can be realized, thereby further improving the operation efficiency. .

对于锁定部41与配合部51的锁定方式，作为可选的，锁定部41与配合部51之间还可以采用磁性吸合的方式进行锁定。具体的，例如，锁定部41和配合部51均包括磁铁，锁定部41的磁铁与配合部1的磁铁的极性相反。或者，锁定部41和配合部51中的一个包括磁铁，锁定部41和配合部51中的另外一个包括能够被磁铁吸引的金属。其中，能够被磁铁吸引的金属可以包括：铁、镍、钴，还有其某些合金。For the locking manner of the locking portion 41 and the engaging portion 51, alternatively, the locking portion 41 and the engaging portion 51 may be locked by magnetic attraction. Specifically, for example, the locking portion 41 and the fitting portion 51 each include a magnet, and the magnet of the locking portion 41 is opposite in polarity to the magnet of the fitting portion 1. Alternatively, one of the locking portion 41 and the fitting portion 51 includes a magnet, and the other of the locking portion 41 and the fitting portion 51 includes a metal that can be attracted by the magnet. Among them, the metal that can be attracted by the magnet may include iron, nickel, cobalt, and some alloys thereof.

采用磁性吸合的方式，当锁定装置40转动到锁定部41能够感受到配合部51的磁性的距离时，锁定部41能够迅速地被配合部51吸合，实现锁定装置40与配合装置51的锁定，即，第一机臂10与第二机臂20锁定。而当需要解除锁定时，只需要分别将锁定装置40和配合装置50朝向相背离的方向拉动，使得锁定部41和配合部51运动至不被相互磁性吸引的位置处即可。With the magnetic attraction, when the locking device 40 is rotated until the locking portion 41 can sense the magnetic distance of the engaging portion 51, the locking portion 41 can be quickly attracted by the engaging portion 51, thereby realizing the locking device 40 and the engaging device 51. Locked, that is, the first arm 10 and the second arm 20 are locked. When it is necessary to release the lock, it is only necessary to respectively pull the locking device 40 and the fitting device 50 in a direction away from each other, so that the locking portion 41 and the fitting portion 51 are moved to a position where they are not magnetically attracted to each other.

实施例三Embodiment 3

本实施例在上述任意实施例的基础上进行进一步限定，具体的，如图3所示，锁定装置40可以包括第一连杆40a和第二连杆40b，第一连杆40a与第一机臂10可转动连接，第二连杆40b与配合装置50可转动连接，第一连杆40a与第二连杆40b相互插接，并通过连接件40c固定在一起。第一连杆40a可以插接在第二连杆40b的外侧，或者，第二连杆40b插接在第一连杆40a的外侧。连接件40c可以为螺栓，螺栓可以将第一连杆40a与第二连杆40b可拆卸地连接。The embodiment is further defined on the basis of any of the above embodiments. Specifically, as shown in FIG. 3, the locking device 40 may include a first link 40a and a second link 40b, and the first link 40a and the first machine The arm 10 is rotatably connected, the second link 40b is rotatably coupled to the mating device 50, and the first link 40a and the second link 40b are inserted into each other and fixed together by a connecting member 40c. The first link 40a may be inserted outside the second link 40b, or the second link 40b may be inserted outside the first link 40a. The connecting member 40c may be a bolt that detachably connects the first link 40a with the second link 40b.

在本实施例中，锁定部41可以形成于第一连杆40a上与第一机臂10可转动连接的一端。In this embodiment, the locking portion 41 can be formed on the first link 40a and the first arm 10 can be Turn one end of the connection.

在本实施例中，第二连杆40b可以包括两个相对设置的支臂(第一支臂401b、第二支臂402b)，两个相对设置的支臂(第一支臂401b、第二支臂402b)之间可以形成用于供第一连杆40a***的容纳空间，两个支臂第一支臂401b、第二支臂402b)可以由弹性材料制成。由于第二连杆40b的两个支臂由弹性材料制成，由于弹性材料可以在一定范围内产生弹性形变，因此可以在一定误差范围内保证锁定部41运动至与配合部51相配合的位置处，因此可以避免由于加工误差而导致的锁定部41无法与配合部51锁定到位的情况发生，能够提高整个装置的可靠性。In this embodiment, the second link 40b may include two oppositely disposed arms (a first arm 401b and a second arm 402b), and two oppositely disposed arms (a first arm 401b, a second) An accommodation space for the insertion of the first link 40a may be formed between the arms 402b), and the two arm first arms 401b and the second arms 402b) may be made of an elastic material. Since the two arms of the second link 40b are made of an elastic material, since the elastic material can be elastically deformed within a certain range, the locking portion 41 can be moved to a position matching the fitting portion 51 within a certain error range. Therefore, it is possible to prevent the locking portion 41 from being locked into place by the fitting portion 51 due to the machining error, and it is possible to improve the reliability of the entire apparatus.

另外，通过对连接件40c进行拧紧程度的调节，可以调节第二连杆40b的弹性大小，进而可以实现允许在更大的误差范围内保证锁定部41运动至与配合部51相配合的位置处。In addition, by adjusting the degree of tightening of the connecting member 40c, the elastic size of the second link 40b can be adjusted, and thus it is possible to ensure that the locking portion 41 is moved to a position matching the engaging portion 51 within a larger error range. .

更进一步的，第二连杆40b上远离配合装置50的一端与第一连杆40a之间可以斜面接触(如图3所示的第一斜面M，第二斜面N)。通过第一连杆40a与第二连杆40b之间的斜面接触，可以更有利于第一连杆40a与第二连杆40b之间产生挤压变形，使得第一连杆40a与第二连杆40b所形成的总长度产生变化，以调节锁定部41的锁定位置，有效地杜绝了可能由于加工误差导致锁定部41无法与配合部51准确配合的现象。Further, an end of the second link 40b away from the mating device 50 and the first link 40a may be in inclined contact (the first slope M and the second slope N as shown in FIG. 3). By the inclined surface contact between the first link 40a and the second link 40b, it is more advantageous to generate a crush deformation between the first link 40a and the second link 40b, so that the first link 40a and the second link The total length of the rod 40b is changed to adjust the locking position of the locking portion 41, effectively eliminating the phenomenon that the locking portion 41 cannot be accurately engaged with the fitting portion 51 due to machining errors.

第一连杆40a上可以设有第一连接孔401a，第二连杆40b的两个支臂上分别设有第二连接孔403b，连接件40c穿过两个支臂(第一支臂401b、第二支臂402b)上的第二连接孔403b及第一连杆40a上的第一连接孔401a，将第一连杆40a与第二连杆40b连接在一起。The first connecting rod 40a may be provided with a first connecting hole 401a, and the two connecting arms of the second connecting rod 40b are respectively provided with a second connecting hole 403b, and the connecting member 40c passes through the two arms (the first arm 401b) The second connecting hole 403b on the second arm 402b) and the first connecting hole 401a on the first link 40a connect the first link 40a and the second link 40b.

优选的，第一连杆40a上的第一连接孔401a为长形孔。如此一来，可以调节连接件40c在第一连杆40a上的固定位置，进而大范围的调节第一连杆40a与第二连杆40b所形成的锁定装置40的总体长度，更大程度上提高了装置的灵活性。Preferably, the first connecting hole 401a on the first link 40a is an elongated hole. In this way, the fixed position of the connecting member 40c on the first link 40a can be adjusted, thereby adjusting the overall length of the locking device 40 formed by the first link 40a and the second link 40b to a greater extent, to a greater extent. Increased flexibility of the device.

实施例四Embodiment 4

本实施例在上述任意实施例的基础上进行进一步限定，如图2所示，锁定装置40用于与配合装置50可转动连接的一端可以设有回弹件60，回弹件60用于当锁定部41与配合部51解除锁定后，驱动锁定装置40沿远离配合装置50的方向弹出。这样一来，可以通过快速回弹的锁定装置40驱动第一机臂10和第二机臂20回复至折叠状态，从而更进一步的提高了自动化程度，方便操作者进行操作。The embodiment is further defined on the basis of any of the above embodiments. As shown in FIG. 2, the end of the locking device 40 for rotatably connecting with the mating device 50 may be provided with a resilient member 60 for use as a spring member 60. After the locking portion 41 and the engaging portion 51 are unlocked, the locking device 40 is driven away from the fit. The direction of the device 50 is ejected. In this way, the first arm 10 and the second arm 20 can be driven back to the folded state by the fast rebound locking device 40, thereby further improving the degree of automation and facilitating the operation of the operator.

在本实施例中，回弹件60可以为轴向弹簧，或者，回弹件60可以为扭簧。In this embodiment, the resilient member 60 may be an axial spring, or the resilient member 60 may be a torsion spring.

在本实施例中，优选的，回弹件60为扭簧，当回弹件60为扭簧时，回弹件60的一端与配合装置连接，回弹件60的另一端与锁定装置40连接，回弹件60的轴向方向与锁定装置40的转动中心轴的方向一致。上述的设置方式能够使得锁定装置40获得较大的弹性恢复力，使得锁定装置40能够快速回弹。In the present embodiment, preferably, the resilient member 60 is a torsion spring. When the resilient member 60 is a torsion spring, one end of the resilient member 60 is coupled to the mating device, and the other end of the resilient member 60 is coupled to the locking device 40. The axial direction of the resilient member 60 coincides with the direction of the central axis of rotation of the locking device 40. The above arrangement enables the locking device 40 to obtain a large elastic restoring force, so that the locking device 40 can rebound quickly.

而当回弹件60为轴向弹簧时，回弹件60的一端可以与配合装置50连接，回弹件60的另一端与锁定装置40连接，回弹件60的轴向方向至少与锁定装置40的转动中心轴之间具有夹角。如此一来，使得回弹件60能够带动锁定装置40转动。When the resilient member 60 is an axial spring, one end of the resilient member 60 can be coupled to the mating device 50, and the other end of the resilient member 60 is coupled to the locking device 40. The axial direction of the resilient member 60 is at least with the locking device. There is an angle between the central axes of rotation of 40. In this way, the resilient member 60 is caused to drive the locking device 40 to rotate.

实施例五Embodiment 5

本实施例提供一种无人机，图5为本发明实施例所提供的无人机的结构示意图。如图1-图5所示，本实施例的无人机包括机架组件以及设于机架组件上的动力装置(图中未示出)，动力装置用于提供飞行动力给无人机。This embodiment provides a drone, and FIG. 5 is a schematic structural diagram of a drone according to an embodiment of the present invention. As shown in FIGS. 1 to 5, the drone of the present embodiment includes a frame assembly and a power unit (not shown) provided on the frame assembly, and the power unit is configured to provide flight power to the drone.

其中，机架组件包括：中心架100，与中心架100可转动连接的第一机臂10、第二机臂20，以及用于将第一机臂10与第二机臂20同步锁定的锁定机构；锁定机构包括同步装置30、锁定装置40和配合装置50。第一机臂10和第二机臂20可以分别通过各自的转轴与中心架可转动连接，例如铰接。Wherein, the frame assembly comprises: a center frame 100, a first arm 10 and a second arm 20 rotatably connected to the center frame 100, and a lock for synchronously locking the first arm 10 and the second arm 20 Mechanism; the locking mechanism includes a synchronization device 30, a locking device 40, and a mating device 50. The first arm 10 and the second arm 20 can be rotatably coupled to the center frame via respective shafts, such as hinges.

锁定装置40的第一端与第一机臂10可转动连接，锁定装置40设有锁定部41。具体的，锁定装置40的第一端可以与第一机臂10通过第一转轴a铰接。The first end of the locking device 40 is rotatably coupled to the first arm 10, and the locking device 40 is provided with a locking portion 41. Specifically, the first end of the locking device 40 can be hinged with the first arm 10 through the first rotating shaft a Pick up.

配合装置50的第一端与第二机臂20可转动连接，配合装置50的第二端与锁定装置40的第二端可转动连接，配合装置50设有用于与锁定部41配合以将锁定装置40与配合装置50相对锁定的配合部51。配合装置50的第一端也可以与第二机臂20通过第二转轴b铰接在一起，同样的，配合装置50的第二端可以通过第三转轴b与锁定装置40的第二端可转动连接。The first end of the mating device 50 is rotatably coupled to the second arm 20, and the second end of the mating device 50 is rotatably coupled to the second end of the locking device 40. The mating device 50 is configured to cooperate with the locking portion 41 to lock The fitting portion 51 of the device 40 and the mating device 50 are locked. The first end of the mating device 50 can also be hinged with the second arm 20 through the second rotating shaft b. Similarly, the second end of the mating device 50 can be rotated through the third rotating shaft b and the second end of the locking device 40. connection.

第一机臂10与第二机臂20可以相对转动至最大预设夹角，例如第一机臂10与第二机臂20转动夹角呈180度。在第一机臂10与第二机臂20相对转动至最大预设夹角时，第一机臂10、第二机臂20处于展开状态。此处的展开状态是第一机臂10和第二机臂20相背离呈展开状态，而不应理解为第一机臂10和第二机臂20分别各自呈展开状态。The first arm 10 and the second arm 20 can be relatively rotated to a maximum preset angle, for example, the first arm 10 and the second arm 20 are rotated at an angle of 180 degrees. When the first arm 10 and the second arm 20 are relatively rotated to a maximum preset angle, the first arm 10 and the second arm 20 are in an unfolded state. The unfolded state here is that the first arm 10 and the second arm 20 are separated from each other in an unfolded state, and it should not be understood that the first arm 10 and the second arm 20 are respectively in an unfolded state.

配合装置50上的配合部51可以以可拆或不可拆的方式固定在配合装置 50的其他部分上，在不可拆的方式中，具体的，配合部51可以与配合装置50其他部分一体成型，或焊接成型。配合部51还可以活动设置于配合装置50的其他部分，例如，在锁定部41与配合状51配合后，当操作配合部51，可使配合部51脱离与锁定部41的配合，实现第一机臂10与第二机臂20的解锁。The mating portion 51 on the mating device 50 can be fixed to the mating device in a detachable or non-detachable manner. In other parts of the 50, in an unremovable manner, specifically, the fitting portion 51 may be integrally formed with other portions of the mating device 50, or welded. The engaging portion 51 can also be movably disposed on other portions of the mating device 50. For example, after the locking portion 41 is engaged with the engaging portion 51, when the engaging portion 51 is operated, the engaging portion 51 can be disengaged from the locking portion 41 to achieve the first The unlocking of the arm 10 and the second arm 20.

实施例六Embodiment 6

本实施例在实施例五的基础上，对锁定装置40上的锁定部41与配合装置50上的配合部51的具体锁定方式进行描述。This embodiment describes the specific locking manner of the locking portion 41 on the locking device 40 and the fitting portion 51 on the mating device 50 on the basis of the fifth embodiment.

更进一步的，如图4所示，配合部51可以设置于一可朝脱离锁定部41的方向运动的滑块54上，滑块54能够在操作者所施加的外力驱动下滑动至配合部51脱离锁定部41。滑块54可以设置在配合装置50内部空腔内，具体的，例如，可以设置在第一分壳53a与第二分壳53b所围成的内部空腔中。在配合装置50内部还可以设置用于引导滑块54沿预定方向滑动的滑道(图中未示出)。Further, as shown in FIG. 4, the engaging portion 51 may be disposed on a slider 54 that is movable in a direction away from the locking portion 41, and the slider 54 is slidable to the engaging portion 51 by an external force applied by an operator. The lock portion 41 is detached. The slider 54 may be disposed in the internal cavity of the mating device 50, and specifically, for example, may be disposed in an internal cavity surrounded by the first split case 53a and the second split case 53b. A slide (not shown) for guiding the slider 54 to slide in a predetermined direction may also be provided inside the mating device 50.

配合装置50还可以包括驱动件55，驱动件55用于接收操作者所施加的外力，并将外力传递至滑块54，以驱动滑块54沿脱离锁定部41的方向滑动。驱动件55可以抵顶到滑块54上，以推动滑块54滑动，从而可使得滑块54上的配合部51的位置产生移动，而当配合部51的位置产生移动的情况下，便可使配合部51与锁定部41相脱离。若驱动件55不***作，则滑块54可维持在当前的位置，配合部51与锁定部41始终保持配合锁定的状态，进而第一机臂10和第二机臂20始终保持锁定的状态。 The mating device 50 may further include a driving member 55 for receiving an external force applied by the operator and transmitting the external force to the slider 54 to drive the slider 54 to slide in a direction away from the locking portion 41. The driving member 55 can abut against the slider 54 to push the slider 54 to slide, so that the position of the engaging portion 51 on the slider 54 can be moved, and when the position of the engaging portion 51 is moved, The fitting portion 51 is separated from the locking portion 41. If the driving member 55 is not operated, the slider 54 can be maintained at the current position, and the engaging portion 51 and the locking portion 41 are always kept in a locked state, and thus the first arm 10 and the second arm 20 are always kept locked. .

另外，驱动件55与壳体53之间还可以设有辅助弹性件56，在本实施例中的辅助弹性件56可以为轴向伸缩弹簧，在操作者向驱动件55施加外力的过程中，辅助弹性件56逐渐压缩，在驱动件55所受外力撤离过程中，辅助弹性件56恢复形变至驱动驱动件55回复至初始状态。具体的，辅助弹性件56的一端可以与驱动件55连接，辅助弹性件56的另一端可以与壳体53抵顶接触；或者，辅助弹性件56的一端与驱动件55抵顶接触，辅助弹性件56的另一端与壳体53连接；或者，辅助弹性件56的一端与驱动件55抵顶接触，辅助弹性件56的另一端与壳体53连接。在壳体53上还可以形成有防止驱动件55从壳体53上脱落的限位部(图中未示出)，当然，当辅助弹性件56的两端分别与驱动件55和壳体53连接的情况下，可以省去壳体53上的限位部。In addition, an auxiliary elastic member 56 may be disposed between the driving member 55 and the housing 53. The auxiliary elastic member 56 in this embodiment may be an axially extending spring. During an external force applied by the operator to the driving member 55, The auxiliary elastic member 56 is gradually compressed, and during the evacuation of the external force of the driving member 55, the auxiliary elastic member 56 is restored to the drive member 55 to return to the initial state. Specifically, one end of the auxiliary elastic member 56 may be coupled to the driving member 55, and the other end of the auxiliary elastic member 56 may be in abutting contact with the housing 53. Alternatively, one end of the auxiliary elastic member 56 may be in contact with the driving member 55 to assist the elasticity. The other end of the member 56 is coupled to the housing 53. Alternatively, one end of the auxiliary elastic member 56 is in abutting contact with the driving member 55, and the other end of the auxiliary elastic member 56 is coupled to the housing 53. A stopper (not shown) for preventing the driving member 55 from coming off the housing 53 may be formed on the housing 53, of course, when the both ends of the auxiliary elastic member 56 are respectively coupled to the driving member 55 and the housing 53 In the case of connection, the limit portion on the casing 53 can be omitted.

在配合装置50中还可以设有用于抵顶滑块54的复位弹性件57，复位弹性件57的伸缩方向与滑块54的滑动方向一致。在本实施例中，复位弹性件 57可以为轴向伸缩弹簧，或者，可以为橡胶件，只要能提高有效的回弹力即可。当然，优选的，复位弹性件57为轴向伸缩弹簧，轴向伸缩弹簧的弹性回复效果相较于橡胶，更敏捷，且更不易磨损，使用寿命更长。A return elastic member 57 for abutting the slider 54 may be provided in the mating device 50, and the contraction direction of the return elastic member 57 coincides with the sliding direction of the slider 54. In this embodiment, the reset elastic member The 57 may be an axially extending spring, or may be a rubber member as long as the effective resilience can be improved. Of course, preferably, the return elastic member 57 is an axial telescopic spring, and the elastic recovery effect of the axial telescopic spring is more agile than rubber, and is less prone to wear and has a longer service life.

需要说明的是，若滑块54背离复位弹性件57所在方向滑动，复位弹性件57在滑块54滑动过程中需要产生伸长形变，则复位弹性件57的两端应分别与壳体53和滑块54连接。若滑块54朝向复位弹性件57所在方向滑动，则复位弹性件57在滑块54滑动过程中是产生压缩形变，则复位弹性件57可以一端与壳体53连接，另一端用于与滑块54抵顶。或者，复位弹性件57可以一端与滑块连接，另一端用于与壳体53抵顶。It should be noted that if the slider 54 slides away from the direction of the return elastic member 57, the return elastic member 57 needs to undergo elongation deformation during the sliding process of the slider 54, and the two ends of the return elastic member 57 should be respectively associated with the housing 53 and The sliders 54 are connected. If the slider 54 slides in the direction of the return elastic member 57, the return elastic member 57 is compressed and deformed during the sliding of the slider 54, and the return elastic member 57 can be connected to the housing 53 at one end and the slider at the other end. 54 to the top. Alternatively, the return elastic member 57 may be connected to the slider at one end and the other end to the housing 53.

对于锁定部41与配合部51的锁定方式，作为可选的，锁定部41与配合部51之间还可以采用磁性吸合的方式进行锁定。具体的，例如，锁定部41 和配合部51均包括磁铁，锁定部41的磁铁与配合部1的磁铁的极性相反。或者，锁定部41和配合部51中的一个包括磁铁，锁定部41和配合部51中的另外一个包括能够被磁铁吸引的金属。其中，能够被磁铁吸引的金属可以包括：铁、镍、钴，还有其某些合金。For the locking manner of the locking portion 41 and the engaging portion 51, alternatively, the locking portion 41 and the engaging portion 51 may be locked by magnetic attraction. Specifically, for example, the locking portion 41 Both the engaging portion 51 and the engaging portion 51 include a magnet, and the magnet of the locking portion 41 and the magnet of the engaging portion 1 have opposite polarities. Alternatively, one of the locking portion 41 and the fitting portion 51 includes a magnet, and the other of the locking portion 41 and the fitting portion 51 includes a metal that can be attracted by the magnet. Among them, the metal that can be attracted by the magnet may include iron, nickel, cobalt, and some alloys thereof.

实施例七Example 7

在本实施例中，锁定部41可以形成于第一连杆40a上与第一机臂10可转动连接的一端。In the present embodiment, the locking portion 41 may be formed at one end of the first link 40a that is rotatably coupled to the first arm 10.

另外，通过对连接件40c进行拧紧程度的调节，可以调节第二连杆40b的弹性大小，进而可以实现允许在更大的误差范围内保证锁定部41运动至与配合部51相配合的位置处。 In addition, by adjusting the degree of tightening of the connecting member 40c, the elastic size of the second link 40b can be adjusted, and thus it is possible to ensure that the locking portion 41 is moved to a position matching the engaging portion 51 within a larger error range. .

实施例八Example eight

本实施例在上述任意实施例的基础上进行进一步限定，如图2所示，锁定装置40用于与配合装置50可转动连接的一端可以设有回弹件60，回弹件60用于当锁定部41与配合部51解除锁定后，驱动锁定装置40沿远离配合装置50的方向弹出。这样一来，可以通过快速回弹的锁定装置40驱动第一机臂10和第二机臂20回复至折叠状态，从而更进一步的提高了自动化程度，方便操作者进行操作。The embodiment is further defined on the basis of any of the above embodiments. As shown in FIG. 2, the end of the locking device 40 for rotatably connecting with the mating device 50 may be provided with a resilient member 60 for use as a spring member 60. After the locking portion 41 and the engaging portion 51 are unlocked, the drive locking device 40 is ejected in a direction away from the mating device 50. In this way, the first arm 10 and the second arm 20 can be driven back to the folded state by the fast rebound locking device 40, thereby further improving the degree of automation and facilitating the operation of the operator.

而当回弹件60为轴向弹簧时，回弹件60的一端可以与配合装置50连接，回弹件60的另一端与锁定装置40连接，回弹件60的轴向方向至少与锁定装置40的转动中心轴之间具有夹角。如此一来，使得回弹件60能够带动锁定装置40转动。When the resilient member 60 is an axial spring, one end of the resilient member 60 can be coupled to the mating device 50, and the other end of the resilient member 60 is coupled to the locking device 40. The axial direction of the resilient member 60 is at least locked with the locking device. There is an angle between the central axes of rotation of the set 40. In this way, the resilient member 60 is caused to drive the locking device 40 to rotate.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的相关描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。Moreover, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" and "second" may include at least one of the features, either explicitly or implicitly. In the related description of the present invention, the meaning of "a plurality" is at least two, for example, two, three, etc., unless specifically defined otherwise.

在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the present invention, the terms "installation", "connected", "connected", "fixed" and the like shall be understood broadly, and may be either a fixed connection or a detachable connection, unless explicitly stated and defined otherwise. Or integrated; can be directly connected, or indirectly connected through an intermediate medium, which can be the internal communication of two elements or the interaction of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.

最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

一种无人机的机架组件，其特征在于，包括中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构；所述锁定机构包括同步装置、锁定装置和配合装置；A rack assembly for a drone, comprising: a center frame, a first arm and a second arm rotatably coupled to the center frame, and for the first arm and the second a lock mechanism for synchronously locking the arm; the locking mechanism includes a synchronizing device, a locking device and a mating device;

所述同步装置设于第一机臂与第二机臂之间，以使第一机臂与第二机臂能够同步转动；The synchronization device is disposed between the first arm and the second arm to enable the first arm and the second arm to rotate synchronously;

所述锁定装置的第一端与第一机臂可转动连接，所述锁定装置设有锁定部；The first end of the locking device is rotatably coupled to the first arm, and the locking device is provided with a locking portion;

所述配合装置的第一端与第二机臂可转动连接，所述配合装置的第二端与锁定装置的第二端可转动连接，所述配合装置设有用于与锁定部配合以将锁定装置与配合装置相对锁定的配合部；The first end of the mating device is rotatably coupled to the second arm, the second end of the mating device is rotatably coupled to the second end of the locking device, and the mating device is configured to cooperate with the locking portion to lock a mating portion of the device and the mating device relatively locked;

其中，当第一机臂相对于所述第二机臂朝向夹角缩小的方向转动时，所述锁定部与所述配合部相分离，使所述第一机臂、第二机臂处于折叠状态；当第一机臂相对于所述第二机臂朝向夹角增大的方向转动时，所述锁定部朝向所述配合部运动，直至所述锁定部与所述配合部相配合，使所述第一机臂、第二机臂处于展开状态。Wherein, when the first arm rotates in a direction in which the angle is reduced with respect to the second arm, the locking portion is separated from the engaging portion, so that the first arm and the second arm are folded. a state in which the locking portion moves toward the mating portion when the first arm rotates in a direction in which the second arm moves toward the angle of the increase, until the locking portion cooperates with the engaging portion, so that The first arm and the second arm are in an unfolded state.
根据权利要求1所述的无人机的机架组件，其特征在于，A frame assembly for a drone according to claim 1, wherein

在第一机臂与第二机臂相对转动至最小预设夹角时，所述第一机臂、第二机臂处于所述折叠状态；When the first arm and the second arm are relatively rotated to a minimum preset angle, the first arm and the second arm are in the folded state;

在第一机臂与第二机臂相对转动至最大预设夹角时，所述第一机臂、第二机臂处于所述展开状态。When the first arm and the second arm are relatively rotated to a maximum preset angle, the first arm and the second arm are in the unfolded state.
根据权利要求1所述的无人机的机架组件，其特征在于，所述同步装置包括固定于所述第一机臂上的第一齿轮，以及固定于所述第二机臂上的第二齿轮，所述第一齿轮与所述第二齿轮啮合，以使第一机臂与第二机臂能够同步反向转动。A frame assembly for a drone according to claim 1, wherein said synchronizing means includes a first gear fixed to said first arm, and a first fixed to said second arm a second gear that meshes with the second gear to enable the first arm and the second arm to rotate in opposite directions.
根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定部与所述配合部之间的锁定方式为卡接。The frame assembly of the unmanned aerial vehicle according to claim 1, wherein the locking portion and the engaging portion are locked in a locking manner.
根据权利要求4所述的无人机的机架组件，其特征在于，所述配合装置包括壳体，所述配合部设置于所述壳体的内部，所述壳体上朝向所述第一机臂和所述第二机臂的一侧设有开口，所述锁定部穿过所述开口锁定于所述配合部上。A frame assembly for a drone according to claim 4, wherein said mating means comprises a housing, said mating portion being disposed inside said housing, said housing facing upwardly One side of the first arm and the second arm is provided with an opening, and the locking portion is locked to the fitting portion through the opening.
根据权利要求4所述的无人机的机架组件，其特征在于，所述锁定部为卡勾，所述配合部为卡孔或卡槽。The rack assembly of the drone according to claim 4, wherein the locking portion is a hook, and the engaging portion is a card hole or a card slot.
根据权利要求4所述的无人机的机架组件，其特征在于，所述配合部设置于一可朝脱离锁定部的方向运动的滑块上，所述滑块能够在操作者所施加的外力驱动下滑动至所述配合部脱离所述锁定部。A frame assembly for a drone according to claim 4, wherein said engaging portion is provided on a slider movable in a direction away from the locking portion, said slider being capable of being applied by an operator The external force is driven to slide until the fitting portion is disengaged from the locking portion.
根据权利要求7所述的无人机的机架组件，其特征在于，所述操作者所施加的外力方向与所述滑块的滑动方向垂直；或者，所述操作者所施加的外力方向与所述滑块的滑动方向一致。The frame assembly of the unmanned aerial vehicle according to claim 7, wherein the direction of the external force applied by the operator is perpendicular to the sliding direction of the slider; or the direction of the external force applied by the operator is The sliding directions of the sliders are the same.
根据权利要求7所述的无人机的机架组件，其特征在于，所述配合装置还包括驱动件，所述驱动件用于接收操作者所施加的外力，并将所述外力传递至所述滑块，以驱动所述滑块沿脱离锁定部的方向滑动。A frame assembly for a drone according to claim 7, wherein said engaging means further comprises a driving member for receiving an external force applied by an operator and transmitting said external force to said The slider is driven to slide the slider in a direction away from the locking portion.
根据权利要求9所述的无人机的机架组件，其特征在于，所述驱动件包括用于供操作者按压的按压部，以及用于抵推所述滑块的抵推部，所述抵推部与所述滑块之间斜面接触，当操作者按压驱动件时，所述抵推部通过所述斜面推动所述滑块沿脱离所述锁定部的方向滑动。A frame assembly for a drone according to claim 9, wherein said driving member includes a pressing portion for pressing by an operator, and an urging portion for abutting said slider, said The slanting portion is in contact with the inclined surface between the sliders, and when the operator presses the driving member, the urging portion pushes the slider to slide in a direction away from the locking portion by the inclined surface.
根据权利要求9所述的无人机的机架组件，其特征在于，所述驱动件与所述壳体的之间设有辅助弹性件，在操作者向驱动件施加外力的过程中，所述辅助弹性件逐渐压缩，在所述驱动件所受外力撤离过程中，所述辅助弹性件恢复形变至驱动所述驱动件回复至初始状态。The frame assembly of the unmanned aerial vehicle according to claim 9, wherein an auxiliary elastic member is disposed between the driving member and the casing, and an external force is applied to the driving member by the operator. The auxiliary elastic member is gradually compressed, and the auxiliary elastic member returns to deforming to drive the driving member to return to the initial state during the external force evacuation of the driving member.
根据权利要求7所述的无人机的机架组件，其特征在于，在所述配合装置中还设有用于抵顶所述滑块的复位弹性件，所述复位弹性件的伸缩方向与所述滑块的滑动方向一致；The frame assembly of the unmanned aerial vehicle according to claim 7, wherein a reset elastic member for abutting the slider is further disposed in the mating device, and a telescopic direction of the return elastic member The sliding direction of the slider is the same;

所述复位弹性件在自然状态下，抵顶所述滑块使所述配合部处于用于与所述锁定部锁定的预设锁定位置；当所述滑块在操作者外力驱动下滑动的过程中，所述复位弹性件产生形变；当所述滑块所受的外力消失，所述复位弹性件恢复形变驱动所述滑块回到所述预设锁定位置。The return elastic member is in a natural state, abutting the slider to cause the engaging portion to be in a preset locking position for locking with the locking portion; and the sliding process when the slider is driven by an external force of an operator The reset elastic member generates deformation; when the external force received by the slider disappears, the return elastic member restores deformation to drive the slider back to the preset locking position.
根据权利要求1所述的的无人机的机架组件，其特征在于，所述锁定部与所述配合部之间的锁定方式为磁性吸合。 The frame assembly of the unmanned aerial vehicle according to claim 1, wherein a locking manner between the locking portion and the engaging portion is magnetic attraction.
根据权利要求13所述的无人机的机架组件，其特征在于，所述锁定部和所述配合部均包括磁铁，所述锁定部的磁铁与所述配合部的磁铁的极性相反；或者，所述锁定部和所述配合部中的一个包括磁铁，所述锁定部和所述配合部中的另外一个包括能够被磁铁吸引的金属。The frame assembly of the unmanned aerial vehicle according to claim 13, wherein the locking portion and the engaging portion each comprise a magnet, and a magnet of the locking portion has a polarity opposite to a magnet of the engaging portion; Alternatively, one of the locking portion and the fitting portion includes a magnet, and the other of the locking portion and the fitting portion includes a metal that can be attracted by the magnet.
根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定装置包括第一连杆和第二连杆，所述第一连杆与所述第一机臂可转动连接，所述第二连杆与所述配合装置可转动连接，所述第一连杆与所述第二连杆相互插接，并通过连接件固定在一起。A frame assembly for a drone according to claim 1, wherein said locking means comprises a first link and a second link, said first link being rotatably coupled to said first arm The second link is rotatably coupled to the mating device, and the first link and the second link are inserted into each other and fixed together by a connecting member.
根据权利要求15所述的无人机的机架组件，其特征在于，所述第二连杆包括两个相对设置的支臂，两个相对设置的支臂之间形成用于供所述第一连杆***的容纳空间，两个所述支臂由弹性材料制成。A frame assembly for a drone according to claim 15, wherein said second link includes two oppositely disposed arms, and two oppositely disposed arms are formed for said first A receiving space into which a link is inserted, and the two of the arms are made of an elastic material.
根据权利要求16所述的无人机的机架组件，其特征在于，所述第二连杆上远离所述配合装置的一端与所述第一连杆之间斜面接触。A frame assembly for a drone according to claim 16, wherein an end of said second link away from said mating means is in inclined contact with said first link.
根据权利要求16所述的无人机的机架组件，其特征在于，所述第一连杆上设有第一连接孔，所述第二连杆的两个支臂上分别设有第二连接孔，所述连接件穿过两个支臂上的第二连接孔及第一连杆上的第一连接孔，将所述第一连杆与所述第二连杆连接在一起。The frame assembly of the unmanned aerial vehicle according to claim 16, wherein the first link is provided with a first connecting hole, and the two arms of the second link are respectively provided with a second a connecting hole, the connecting member passing through the second connecting hole on the two arms and the first connecting hole on the first link, connecting the first link and the second link.
根据权利要求18所述的无人机的机架组件，其特征在于，所述第一连杆上的第一连接孔为长形孔。The frame assembly of the unmanned aerial vehicle according to claim 18, wherein the first connecting hole on the first link is an elongated hole.
根据权利要求15所述的无人机的机架组件，其特征在于，所述锁定部形成于所述第一连杆上与所述第一机臂可转动连接的一端。A frame assembly for a drone according to claim 15, wherein said locking portion is formed at one end of said first link rotatably coupled to said first arm.
根据权利要求1所述的无人机的机架组件，其特征在于，所述锁定装置用于与配合装置可转动连接的一端设有回弹件，所述回弹件用于当所述锁定部与所述配合部解除锁定后，驱动所述锁定装置沿远离配合装置的方向弹出。A frame assembly for a drone according to claim 1, wherein said locking means is provided with a resilient member at one end for rotatably coupling with the engaging means, said resilient member for said locking After the locking portion is unlocked, the locking device is driven to pop out in a direction away from the mating device.
根据权利要求21所述的无人机的机架组件，其特征在于，所述回弹件为轴向弹簧，或者，所述回弹件为扭簧。The frame assembly of the unmanned aerial vehicle according to claim 21, wherein the resilient member is an axial spring, or the resilient member is a torsion spring.
根据权利要求22所述的无人机的机架组件，其特征在于，当所述回弹件为轴向弹簧时，所述回弹件的一端与配合装置连接，所述回弹件的另一端与锁定装置连接，所述回弹件的轴向方向至少与所述锁定装置的转动中心轴之间具有夹角。The frame assembly of the unmanned aerial vehicle according to claim 22, wherein when the resilient member is an axial spring, one end of the resilient member is coupled to the mating device, and the resilient member is further One end is connected to the locking device, and the axial direction of the resilient member is at least opposite to the locking device There is an angle between the central axes of rotation.
根据权利要求22所述的无人机的机架组件，其特征在于，当所述回弹件为扭簧时，所述回弹件的一端与配合装置连接，所述回弹件的另一端与锁定装置连接，所述回弹件的轴向方向与所述锁定装置的转动中心轴的方向一致。The frame assembly of the unmanned aerial vehicle according to claim 22, wherein when the resilient member is a torsion spring, one end of the resilient member is coupled to the mating device, and the other end of the resilient member Connected to the locking device, the axial direction of the resilient member coincides with the direction of the central axis of rotation of the locking device.
一种无人机，其特征在于，包括机架组件以及设于所述机架组件上的动力装置，所述动力装置用于提供飞行动力给所述无人机；An unmanned aerial vehicle, comprising: a frame assembly and a power device disposed on the frame assembly, the power device for providing flight power to the drone;

其中，所述机架组件包括：中心架，与所述中心架可转动连接的第一机臂、第二机臂，以及用于将所述第一机臂与第二机臂同步锁定的锁定机构；所述锁定机构包括同步装置、锁定装置和配合装置；The rack assembly includes: a center frame, a first arm rotatably coupled to the center frame, a second arm, and a lock for synchronously locking the first arm and the second arm a mechanism; the locking mechanism includes a synchronization device, a locking device, and a mating device;

所述同步装置设于第一机臂与第二机臂之间，以使第一机臂与第二机臂能够同步转动；The synchronization device is disposed between the first arm and the second arm to enable the first arm and the second arm to rotate synchronously;

所述锁定装置的第一端与第一机臂可转动连接，所述锁定装置设有锁定部；The first end of the locking device is rotatably coupled to the first arm, and the locking device is provided with a locking portion;

所述配合装置的第一端与第二机臂可转动连接，所述配合装置的第二端与锁定装置的第二端可转动连接，所述配合装置设有用于与锁定部配合以将锁定装置与配合装置相对锁定的配合部；The first end of the mating device is rotatably coupled to the second arm, the second end of the mating device is rotatably coupled to the second end of the locking device, and the mating device is configured to cooperate with the locking portion to lock a mating portion of the device and the mating device relatively locked;

其中，当第一机臂相对于所述第二机臂朝向夹角缩小的方向转动时，所述锁定部与所述配合部相分离，使所述第一机臂、第二机臂处于折叠状态；当第一机臂相对于所述第二机臂朝向夹角增大的方向转动时，所述锁定部朝向所述配合部运动，直至所述锁定部与所述配合部相配合，使所述第一机臂、第二机臂处于展开状态。Wherein, when the first arm rotates in a direction in which the angle is reduced with respect to the second arm, the locking portion is separated from the engaging portion, so that the first arm and the second arm are folded. a state in which the locking portion moves toward the mating portion when the first arm rotates in a direction in which the second arm moves toward the angle of the increase, until the locking portion cooperates with the engaging portion, so that The first arm and the second arm are in an unfolded state.
根据权利要求25所述的无人机，其特征在于，The drone according to claim 25, wherein

在第一机臂与第二机臂相对转动至最小预设夹角时，所述第一机臂、第二机臂处于所述折叠状态；When the first arm and the second arm are relatively rotated to a minimum preset angle, the first arm and the second arm are in the folded state;

在第一机臂与第二机臂相对转动至最大预设夹角时，所述第一机臂、第二机臂处于所述展开状态。When the first arm and the second arm are relatively rotated to a maximum preset angle, the first arm and the second arm are in the unfolded state.
根据权利要求25所述的无人机，其特征在于，所述同步装置包括固定于所述第一机臂上的第一齿轮，以及固定于所述第二机臂上的第二齿轮，所述第一齿轮与所述第二齿轮啮合，以使第一机臂与第二机臂能够同步反向转动。The drone according to claim 25, wherein said synchronizing means comprises a first gear fixed to said first arm, and a second gear fixed to said second arm, The first gear meshes with the second gear to enable the first arm and the second arm to Synchronous reverse rotation.
根据权利要求25所述的无人机，其特征在于，所述锁定部与所述配合部之间的锁定方式为卡接。The drone according to claim 25, wherein the locking means between the locking portion and the engaging portion is engaged.
根据权利要求28所述的无人机，其特征在于，所述配合部设置于所述配合装置的内部，所述配合装置上朝向所述第一机臂和所述第二机臂的一侧设有开口，所述锁定部穿过所述开口锁定于所述配合部上。The drone according to claim 28, wherein the fitting portion is disposed inside the fitting device, and the fitting device faces one side of the first arm and the second arm An opening is provided, and the locking portion is locked to the fitting portion through the opening.
根据权利要求28所述的无人机，其特征在于，所述锁定部为卡勾，所述配合部为卡孔或卡槽。The drone according to claim 28, wherein the locking portion is a hook, and the engaging portion is a card hole or a card slot.
根据权利要求28所述的无人机，其特征在于，所述配合部设置于一可朝脱离锁定部的方向运动的滑块上，所述滑块能够在操作者所施加的外力驱动下滑动至所述配合部脱离所述锁定部。The drone according to claim 28, wherein said engaging portion is provided on a slider movable in a direction away from the locking portion, said slider being slidable by an external force applied by an operator The fitting portion is separated from the locking portion.
根据权利要求31所述的无人机，其特征在于，所述操作者所施加的外力方向与所述滑块的滑动方向垂直；或者，所述操作者所施加的外力方向与所述滑块的滑动方向一致。The drone according to claim 31, wherein the direction of the external force applied by the operator is perpendicular to the sliding direction of the slider; or the direction of the external force applied by the operator and the slider The sliding direction is the same.
根据权利要求31所述的无人机，其特征在于，所述配合装置还包括驱动件，所述驱动件用于接收操作者所施加的外力，并将所述外力传递至所述滑块，以驱动所述滑块沿脱离锁定部的方向滑动。The drone according to claim 31, wherein said engaging means further comprises a driving member for receiving an external force applied by an operator and transmitting said external force to said slider The slider is driven to slide in a direction away from the locking portion.
根据权利要求33所述的无人机，其特征在于，所述驱动件包括用于供操作者按压的按压部，以及用于抵推所述滑块的抵推部，所述抵推部与所述滑块之间斜面接触，当操作者按压驱动件时，所述抵推部通过所述斜面推动所述滑块沿脱离所述锁定部的方向滑动。The drone according to claim 33, wherein said driving member includes a pressing portion for pressing by an operator, and an urging portion for urging said slider, said urging portion being The slider is in contact with the inclined surface, and when the operator presses the driving member, the pressing portion pushes the slider to slide in a direction away from the locking portion by the inclined surface.
根据权利要求33所述的无人机，其特征在于，所述驱动件与所述滑块之间设有辅助弹性件，在操作者向驱动件施加外力的过程中，所述辅助弹性件逐渐压缩，在所述驱动件所受外力撤离过程中，所述辅助弹性件恢复形变至驱动所述驱动件回复至初始状态。The drone according to claim 33, wherein an auxiliary elastic member is disposed between the driving member and the slider, and the auxiliary elastic member gradually becomes in the process of applying an external force to the driving member by the operator. Compression, during the evacuation of the external force of the driving member, the auxiliary elastic member recovers to deform to drive the driving member to return to the initial state.
根据权利要求31所述的无人机，其特征在于，在所述配合装置中还设有用于抵顶所述滑块的复位弹性件，所述复位弹性件的伸缩方向与所述滑块的滑动方向一致；The drone according to claim 31, wherein a reset elastic member for abutting the slider is further provided in the mating device, and a telescopic direction of the return elastic member is opposite to the slider The sliding direction is the same;

所述复位弹性件在自然状态下，抵顶所述滑块使所述配合部处于用于与所述锁定部锁定的预设锁定位置；当所述滑块在操作者外力驱动下滑动的过程中，所述复位弹性件产生形变；当所述滑块所受的外力消失，所述复位弹性件恢复形变驱动所述滑块回到所述预设锁定位置。The return elastic member is in a natural state, abutting the slider to cause the engaging portion to be in a preset locking position for locking with the locking portion; when the slider is driven by an external force of an operator During the process, the return elastic member is deformed; when the external force received by the slider disappears, the return elastic member returns to deform and drives the slider back to the preset locking position.
根据权利要求25所述的无人机，其特征在于，所述锁定部与所述配合部之间的锁定方式为磁性吸合。The drone according to claim 25, wherein the locking means between the locking portion and the engaging portion is magnetically attracted.
根据权利要求37所述的无人机，其特征在于，所述锁定部和所述配合部均包括磁铁，所述锁定部的磁铁与所述配合部的磁铁的极性相反；或者，所述锁定部和所述配合部中的一个包括磁铁，所述锁定部和所述配合部中的另外一个包括能够被磁铁吸引的金属。The drone according to claim 37, wherein the locking portion and the fitting portion each include a magnet, and a magnet of the locking portion is opposite in polarity to a magnet of the fitting portion; or One of the locking portion and the fitting portion includes a magnet, and the other of the locking portion and the fitting portion includes a metal that can be attracted by the magnet.
根据权利要求25所述的无人机，其特征在于，所述锁定装置包括第一连杆和第二连杆，所述第一连杆与所述第一机臂可转动连接，所述第二连杆与所述配合装置可转动连接，所述第一连杆与所述第二连杆相互插接，并通过连接件固定在一起。The drone according to claim 25, wherein said locking means comprises a first link and a second link, said first link being rotatably coupled to said first arm, said The two links are rotatably coupled to the mating device, and the first link and the second link are inserted into each other and fixed together by a connecting member.
根据权利要求39所述的无人机，其特征在于，所述第二连杆包括两个相对设置的支臂，两个相对设置的支臂之间形成用于供所述第一连杆***的容纳空间，两个所述支臂由弹性材料制成。The drone according to claim 39, wherein said second link comprises two oppositely disposed arms, and two oppositely disposed arms are formed for insertion of said first link The accommodation space, the two said arms are made of an elastic material.
根据权利要求40所述的无人机，其特征在于，所述第二连杆上远离所述配合装置的一端与所述第一连杆之间斜面接触。The drone according to claim 40, wherein an end of said second link away from said mating means is in contact with said first link.
根据权利要求40所述的无人机，其特征在于，所述第一连杆上设有第一连接孔，所述第二连杆的两个支臂上分别设有第二连接孔，所述连接件穿过两个支臂上的第二连接孔及第一连杆上的第一连接孔，将所述第一连杆与所述第二连杆连接在一起。The drone according to claim 40, wherein the first connecting rod is provided with a first connecting hole, and the two connecting arms of the second connecting rod are respectively provided with a second connecting hole, The connecting member passes through the second connecting hole on the two arms and the first connecting hole on the first link to connect the first link and the second link.
根据权利要求42所述的无人机，其特征在于，所述第一连杆上的第一连接孔为长形孔。The drone according to claim 42, wherein the first connecting hole on the first link is an elongated hole.
根据权利要求39所述的无人机，其特征在于，所述锁定部形成于所述第一连杆上与所述第一机臂可转动连接的一端。The drone according to claim 39, wherein said locking portion is formed at one end of said first link rotatably coupled to said first arm.
根据权利要求25所述的无人机，其特征在于，所述锁定装置用于与配合装置可转动连接的一端设有回弹件，所述回弹件用于当所述锁定部与所述配合部解除锁定后，驱动所述锁定装置沿远离配合装置的方向弹出。A drone according to claim 25, wherein said locking means is provided with a resilient member at one end for rotatably coupling with the engaging means, said resilient member for said locking portion and said After the mating portion is unlocked, the locking device is driven to pop out in a direction away from the mating device.
根据权利要求45所述的无人机，其特征在于，所述回弹件为轴向弹簧，或者，所述回弹件为扭簧。A drone according to claim 45, wherein said rebound member is a shaft To the spring, or the rebound member is a torsion spring.
根据权利要求46所述的无人机，其特征在于，当所述回弹件为轴向弹簧时，所述回弹件的一端与配合装置连接，所述回弹件的另一端与锁定装置连接，所述回弹件的轴向方向至少与所述锁定装置的转动中心轴之间具有夹角。The drone according to claim 46, wherein when the resilient member is an axial spring, one end of the resilient member is coupled to the mating device, and the other end of the resilient member is coupled to the locking device Connecting, the axial direction of the resilient member is at least at an angle to the central axis of rotation of the locking device.
根据权利要求46所述的无人机，其特征在于，当所述回弹件为扭簧时，所述回弹件的一端与配合装置连接，所述回弹件的另一端与锁定装置连接，所述回弹件的轴向方向与所述锁定装置的转动中心轴的方向一致。 The drone according to claim 46, wherein when the resilient member is a torsion spring, one end of the resilient member is coupled to the mating device, and the other end of the resilient member is coupled to the locking device The axial direction of the resilient member coincides with the direction of the central axis of rotation of the locking device.